CustusX  16.5
An IGT application
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cxToolTipCalibrationWidget.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
5 All rights reserved.
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7 Redistribution and use in source and binary forms, with or without
8 modification, are permitted provided that the following conditions are met:
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10 1. Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
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13 2. Redistributions in binary form must reproduce the above copyright notice,
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21 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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32 
34 
35 #include <QPushButton>
36 #include <QTextStream>
37 #include <QFileDialog>
38 #include <QMessageBox>
39 #include "cxTypeConversions.h"
40 #include "cxLogger.h"
41 #include "cxTrackingService.h"
42 #include "cxVector3D.h"
43 #include "cxDefinitionStrings.h"
45 #include "cxTool.h"
46 #include "cxVisServices.h"
48 #include "cxSpaceProvider.h"
49 
50 namespace cx
51 {
52 
53 //------------------------------------------------------------------------------
55  BaseWidget(parent, "ToolTipCalibrateWidget", "ToolTip Calibrate"),
56  mServices(services),
57  mCalibrateButton(new QPushButton("Calibrate")),
58  mReferencePointLabel(new QLabel("Ref. point:")),
59  mTestButton(new QPushButton("Test calibration")),
60  mCalibrationLabel(new QLabel("Calibration: \n")),
61  mDeltaLabel(new QLabel("Delta:"))
62 {
63  QVBoxLayout* toplayout = new QVBoxLayout(this);
64 
65  mTools = StringPropertySelectTool::New(mServices->tracking());
66  mTools->setValueName("Reference tool");
67  mTools->setHelp("Select a tool with a known reference point");
68  mCalibrateToolComboBox = new LabeledComboBoxWidget(this, mTools);
69  this->setToolTip("Calibrate tool position part of sMt matrix");
70 
71  //toplayout->addWidget(new QLabel("<b>Select a tool with a known reference point:</b>"));
72  toplayout->addWidget(mCalibrateToolComboBox);
73  toplayout->addWidget(mReferencePointLabel);
74  toplayout->addWidget(mCalibrateButton);
75  toplayout->addWidget(mCalibrationLabel);
76  toplayout->addWidget(this->createHorizontalLine());
77  toplayout->addWidget(mTestButton);
78  toplayout->addWidget(mDeltaLabel);
79  toplayout->addStretch();
80 
81  connect(mCalibrateButton, SIGNAL(clicked()), this, SLOT(calibrateSlot()));
82  connect(mTestButton, SIGNAL(clicked()), this, SLOT(testCalibrationSlot()));
83 
84  connect(mTools.get(), SIGNAL(changed()), this, SLOT(toolSelectedSlot()));
85  connect(mServices->tracking().get(), &TrackingService::stateChanged, this, &ToolTipCalibrateWidget::onTrackingSystemStateChanged);
86 
87  //setting default state
88  this->toolSelectedSlot();
89 }
90 
92 {}
93 
94 void ToolTipCalibrateWidget::onTrackingSystemStateChanged()
95 {
96  if (mServices->tracking()->getTool(mTools->getValue()))
97  return;
98  if (!mServices->tracking()->getReferenceTool())
99  return;
100 
101  mTools->setValue(mServices->tracking()->getReferenceTool()->getUid());
102 }
103 
104 void ToolTipCalibrateWidget::calibrateSlot()
105 {
106  ToolPtr refTool = mTools->getTool();
107  //Todo, we only allow the reference point with id 1 to be used to calibrate
108  //this could be done more dynamic.
109  if(!refTool || !refTool->hasReferencePointWithId(1))
110  return;
111 
112  ToolPtr tool = mServices->tracking()->getActiveTool();
113  CoordinateSystem to = mServices->spaceProvider()->getT(tool);
114  Vector3D P_t = mServices->spaceProvider()->getActiveToolTipPoint(to);
115 
116  ToolTipCalibrationCalculator calc(mServices->spaceProvider(), tool, refTool, P_t);
117  Transform3D calibration = calc.get_calibration_sMt();
118 
119  QMessageBox msgBox;
120  msgBox.setText("Do you want to overwrite "+tool->getName()+"s calibration file?");
121  msgBox.setInformativeText("This cannot be undone.");
122  msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
123  msgBox.setDefaultButton(QMessageBox::Ok);
124  int ret = msgBox.exec();
125 
126  if(ret == QMessageBox::Ok)
127  {
128  tool->setCalibration_sMt(calibration);
129  mCalibrationLabel->setText("Calibration:\n"+qstring_cast(calibration));
130  }
131 }
132 
133 void ToolTipCalibrateWidget::testCalibrationSlot()
134 {
135  ToolPtr selectedTool = mTools->getTool();
136  if(!selectedTool || !selectedTool->hasReferencePointWithId(1))
137  return;
138 
139  CoordinateSystem to = mServices->spaceProvider()->getT(mServices->tracking()->getActiveTool());
140  Vector3D sampledPoint = mServices->spaceProvider()->getActiveToolTipPoint(to);
141 
142  ToolTipCalibrationCalculator calc(mServices->spaceProvider(), mServices->tracking()->getActiveTool(), selectedTool, sampledPoint);
143  Vector3D delta_selectedTool = calc.get_delta_ref();
144 
145  mDeltaLabel->setText("<b>Delta:</b> "+qstring_cast(delta_selectedTool)+" <br> <b>Length:</b> "+qstring_cast(delta_selectedTool.length()));
146 
147  report("Delta: "+qstring_cast(delta_selectedTool)+" Length: "+qstring_cast(delta_selectedTool.length()));
148 }
149 
150 void ToolTipCalibrateWidget::toolSelectedSlot()
151 {
152  QString text("Ref. point: <UNDEFINED POINT>");
153  mCalibrateButton->setEnabled(false);
154 
155  if(mTools->getTool())
156  {
157  ToolPtr tool = mTools->getTool();
158  if(tool && tool->hasReferencePointWithId(1))
159  {
160  text = "Ref. point: "+qstring_cast(tool->getReferencePoints()[1]);
161  mCalibrateButton->setEnabled(true);
162  }
163  else
164  reportWarning("Selected tool have no known reference point");
165  if(tool)
166  {
167  mCalibrationLabel->setText("Calibration:\n"+qstring_cast(tool->getCalibration_sMt()));
168  }
169  }
170 
171  mReferencePointLabel->setText(text);
172 }
173  //------------------------------------------------------------------------------
174 
175 
176 
178  mTool(tool), mRef(ref), mP_t(p_t), mSpaces(spaces)
179 {}
180 
182 {}
183 
185 {
186  return get_referencePoint_ref() - get_sampledPoint_ref();
187 }
188 
190 {
191  return this->get_sMt_new();
192 }
193 
194 Vector3D ToolTipCalibrationCalculator::get_sampledPoint_t()
195 {
196  return mP_t;
197 }
198 
199 Vector3D ToolTipCalibrationCalculator::get_sampledPoint_ref()
200 {
201  CoordinateSystem csT = mSpaces->getT(mTool); //from
202  CoordinateSystem csRef = mSpaces->getT(mRef); //to
203 
204  Transform3D refMt = mSpaces->get_toMfrom(csT, csRef);
205 
206  Vector3D P_ref = refMt.coord(mP_t);
207 
208  return P_ref;
209 }
210 
211 Vector3D ToolTipCalibrationCalculator::get_referencePoint_ref()
212 {
213  return mRef->getReferencePoints()[1];
214 }
215 
216 Transform3D ToolTipCalibrationCalculator::get_sMt_new()
217 {
218  Transform3D sMt_old = mTool->getCalibration_sMt();
219 
220  CoordinateSystem csT = mSpaces->getT(mTool); //to
221  CoordinateSystem csRef = mSpaces->getT(mRef); //from
222  Transform3D tMref = mSpaces->get_toMfrom(csRef, csT);
223 
224  Vector3D delta_t = tMref.vector(this->get_delta_ref());
225  Transform3D T_delta_t = createTransformTranslate(delta_t);
226 
227  return sMt_old * T_delta_t;
228 }
229 //------------------------------------------------------------------------------
230 //------------------------------------------------------------------------------
231 }//namespace cx
boost::shared_ptr< class SpaceProvider > SpaceProviderPtr
QString qstring_cast(const T &val)
ToolTipCalibrateWidget(VisServicesPtr services, QWidget *parent)
boost::shared_ptr< class VisServices > VisServicesPtr
Definition: cxMainWindow.h:62
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
Vector3D get_delta_ref()
how far from the reference point the sampled point is, in pr's coord
Composite widget for string selection.
static QFrame * createHorizontalLine()
Creates a horizontal line which can be inserted into widgets.
void reportWarning(QString msg)
Definition: cxLogger.cpp:91
ToolTipCalibrationCalculator(SpaceProviderPtr spaces, ToolPtr tool, ToolPtr ref, Vector3D p_t=Vector3D())
Transform3D createTransformTranslate(const Vector3D &translation)
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:63
Interface for QWidget which handles widgets uniformly for the system.
Definition: cxBaseWidget.h:108
static StringPropertySelectToolPtr New(TrackingServicePtr trackingService)
void report(QString msg)
Definition: cxLogger.cpp:90
boost::shared_ptr< class Tool > ToolPtr